CN111688832A

CN111688832A - Guide wheel device of fire-fighting robot and fire-fighting robot

Info

Publication number: CN111688832A
Application number: CN201910194765.6A
Authority: CN
Inventors: 刘江波; 王凯; 孙兆君; 杨占宾; 王璐; 仇文庆
Original assignee: Siemens AG
Current assignee: Siemens AG
Priority date: 2019-03-14
Filing date: 2019-03-14
Publication date: 2020-09-22
Anticipated expiration: 2039-03-14
Also published as: WO2020182127A1; CN111688832B

Abstract

The invention provides a guide wheel device for a fire-fighting robot and the fire-fighting robot, wherein the guide wheel device comprises: at least one guide wheel connected with a track of the fire fighting robot; the guide sliding rail is provided with a first sliding way; the guide body is fixedly connected with the guide wheel and can slide along the first slideway by sliding a part of the guide body in the first slideway; and the damper is fixedly connected with the guide body, and when the guide body slides along the first slideway, the damper is used for buffering impact energy received by the fire-fighting robot in the traveling process and resetting after the buffering is finished. Can increase the tensioning function through this kind of design on the leading wheel, be particularly useful for fire-fighting robot when carrying out the in-process and receive the striking, this leading wheel device can realize effectively that the track that has effectively avoided the not enough track tensioning to cause takes off the area problem to this impact energy buffering.

Description

Guide wheel device of fire-fighting robot and fire-fighting robot

Technical Field

The invention relates to a guide wheel device, in particular to a guide wheel device for a fire-fighting robot.

Background

Crawler-type traveling equipment such as fire-fighting robots, detection robots, inspection robots and the like generally comprises driving wheels, thrust wheels, guide wheels, tow pulleys and tracks, tensioning devices, buffer springs and the like. Wherein the track is a flexible chain ring driven by the driving wheel and surrounding the thrust wheel, the guide wheel and the towing wheel. The crawler belt is composed of crawler belts, crawler pins and the like, and the crawler belts are connected by the crawler pins to form a crawler belt link. The two ends of the crawler plate are provided with holes which are meshed with the driving wheel, and the middle part of the crawler plate is provided with inducing teeth which are used for regulating the crawler and preventing the crawler from falling off. The driving wheel is arranged at the rear, so that the driving section of the crawler belt can be shortened, the friction loss at the position of a crawler belt pin caused by driving force is reduced, the service life of the crawler belt is prolonged, the lower part of the crawler belt is not easy to arch, the danger that the crawler belt falls off when the crawler belt turns is avoided, and the efficiency of a walking system is improved. The belt supporting wheel is used for dragging the crawler belt and preventing the crawler belt from excessively drooping so as to reduce the vibration and jumping phenomenon of the crawler belt in motion and prevent the crawler belt from sliding off laterally. The main function of the tensioning device is to tension the crawler belt and prevent the belt from falling. The guide wheels are usually arranged in front of or behind the fire-fighting robot and are used for guiding the track to rotate correctly, so that the deviation and the track crossing can be prevented. The main function of the thrust wheels is to support the weight of the fire fighting robot and to allow the track to advance along the wheels.

The entire track may stretch after the crawler-type traveling apparatus is used for a period of time. In addition, in some environments of use of the crawler-type traveling apparatus, such as when the crawler-type traveling apparatus travels on a road surface with many obstacles, the tension of the track may be insufficient. Therefore, how to provide enough tension for the track and avoid the problem of the track belt release caused by insufficient tension of the track becomes one of the technical problems to be solved urgently.

Disclosure of Invention

In order to solve the above problems, the present invention provides, in a first aspect, a guide wheel apparatus of a fire fighting robot, comprising: at least one guide wheel connected with a track of the fire fighting robot; the guide sliding rail is provided with a first sliding way; the guide body is fixedly connected with the guide wheel and can slide along the first slideway by sliding a part of the guide body in the first slideway; and the damper is fixedly connected with the guide body, and when the guide body slides along the first slideway, the damper is used for buffering impact energy received by the fire-fighting robot in the traveling process and resetting after the buffering is finished. Can increase the tensioning function through this kind of design on the leading wheel, be particularly useful for the fire-fighting robot and receive when striking at the in-process of advancing, this leading wheel device can realize the buffering to this impact effectively, because the existence of buffering moreover, after the buffering is accomplished, through the resetting drive leading wheel of attenuator reset to increase the tensile force of track, effectively avoided the track that the track tensioning is not enough to cause to take off the area problem.

According to an advantageous embodiment, the guide wheel comprises a guide wheel axle, the guide wheel axle is arranged in the first slideway in a penetrating manner, and the guide wheel axle is fixedly connected with the at least one guide body. Through this kind of specific mode with leading body and leading wheel fixed connection, can realize low-cost and the simplified dual advantage of design. Furthermore, the stability of the integration of the guide body and the guide wheel in the working process is ensured, and the safety and reliability of the equipment are ensured.

According to an advantageous embodiment, the damper is fixedly connected at both ends to the guide body and to the guide rail, respectively. Therefore, a reliable connection relation is formed between the damper and the guide body, and when the guide body slides in the first slide way of the guide slide rail, the damper is compressed, so that the effect of buffering impact energy is achieved; at the same time, as the damper is compressed, it can provide a reaction force which is equivalent to the effect of automatic tensioning.

According to an advantageous embodiment, the damper is a hydraulic damper. This has the dual advantages of low cost and simple assembly.

According to an advantageous embodiment, the guide rail is provided with a second slideway, the second slideway extends along the same direction as the first slideway, the guide wheel device further comprises a guide connecting seat capable of being fixed on the fire-fighting robot, and the guide connecting seat can be connected with the second slideway. Therefore, the relative position relation between the guide connecting seat and the guide sliding rail can be adjusted, and the pre-tensioning force can be adjusted.

According to an advantageous embodiment, the guide connecting seat is provided with a sliding groove, and the guide sliding rail is provided with a second boss, wherein the sliding groove can be engaged with the second boss in a mutually movable manner, so that the sliding groove can slide relative to the second boss to adjust the relative position of the guide connecting seat and the guide sliding rail. Because the sliding groove is matched with the first boss, the guide connecting seat and the guide sliding rail are prevented from being vertically staggered, and the guide connecting seat can be conveniently moved back and forth, so that the relative position relation between the guide connecting seat and the guide sliding rail is effectively adjusted, and the pre-tensioning force is finally adjusted.

According to an advantageous embodiment, the guide wheel device further comprises a lead screw, the guide rail further comprises a groove, one end of the lead screw is arranged in the groove in an abutting mode, and the other end of the lead screw is fixed to the fire-fighting robot. According to the arrangement, the relative position relation between the guide connecting seat and the guide sliding rail can be further adjusted by rotating the lead screw, and finally the readjustment of the pre-tensioning force is realized. In addition, one end of the lead screw is propped in the groove of the guide sliding rail, which is equivalent to provide a rigid acting force opposite to the direction of the impact force, and the rigid acting force can play a role in tensioning. Moreover, because lead screw and support can install the fire-fighting robot earlier, be convenient for install leading wheel device on the fire-fighting robot wholly.

Another aspect of the present invention provides a fire fighting robot including a guide wheel apparatus according to any one of the above embodiments. This kind of design is applicable to when the fire-fighting robot receives the striking at the in-process of advancing, and this leading wheel device can realize effectively buffering to the impact energy, because the existence of buffering moreover, after the buffering is accomplished, through the resetting drive leading wheel of attenuator reset to increased the tensile force of track, effectively avoided the track that the track tensioning is not enough to cause to take off the area problem.

According to an advantageous embodiment, the guide wheel arrangement is arranged in a horizontal direction, whereby a horizontal tensioning force can be provided for the track.

According to an advantageous embodiment, the fire fighting robot further comprises a tensioning device providing a vertical tensioning force, whereby a vertical tensioning force can be provided for the track.

Drawings

The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention. Wherein the content of the first and second substances,

fig. 1 is a perspective exploded view schematically illustrating a guide wheel apparatus according to an embodiment of the present invention;

FIG. 2 is a perspective view schematically illustrating the guide wheel assembly of FIG. 1;

FIG. 3 is a schematic side view of the guide wheel assembly of FIG. 1;

FIG. 4 schematically illustrates a perspective view of a guide wheel assembly according to another embodiment of the present invention;

fig. 5 shows a schematic side view of the guide wheel arrangement of fig. 4.

List of reference numerals:

10 guide wheel

11 lightening hole

12 bearing

13 nut

14 leading wheel axle

20 dust cover

30 guide body

31 through hole

32 first boss

301 first end

302 second end

303 third end

40 damper

50 damper seat rail

60 bearing cap

70 guide slide rail

71 first slideway

72 second slideway

73 second boss

74 groove

80 lead screw

90 support

100 guide connecting seat

101 chute

200 screw hole

Detailed Description

In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.

Fig. 1 schematically shows an exploded perspective view of a guide wheel arrangement according to an embodiment of the invention; FIG. 2 schematically illustrates a perspective view of the guide wheel assembly of FIG. 1; FIG. 3 is a schematic side view of the guide wheel assembly of FIG. 1; as shown in fig. 1 to 3, the guide wheel apparatus includes: the guide wheel assembly comprises at least one guide wheel 10, at least one dust cover 20, at least one guide body 30, a damper seat rail 50, a damper 40, at least one bearing cover 60, a guide sliding rail 70, a lead screw 80, a support 90 and a guide connecting seat 100.

Preferably, in this embodiment, the number of the guide wheels 10 is two, the guide wheels are installed at two ends of the guide wheel axle 14, are respectively located at two sides of the guide rail 70, and are both connected with the track (not shown in fig. 1), so that the track is guided to normally revolve, the track is prevented from deviating and crossing, the driving wheel of the fire-fighting robot is effectively connected with the track, and stable driving force is provided. Specifically, the guide wheel 10 is sleeved on a bearing 12, the bearing 12 is fixed at two ends of a guide wheel axle 14 through nuts 13, and two sides of the bearing 12 are respectively provided with a dust cover 20 and a bearing cover 60. Preferably, the guide wheel 10 is also provided with lightening holes 11.

Preferably, in the present embodiment, the number of the guide bodies 30 is also two, or also called a group of guide bodies, which are disposed between the two guide wheels 10 and are arranged on two sides of the guide rail 70, and each guide body 30 is in surface contact with the guide rail 70 to form a moving pair.

Preferably, in this embodiment, a first boss 32 is disposed on a side surface of each guide body 30 facing the guide rail 70, the first boss 32 is inserted into the first slide way 71, and the first bosses 32 on the two guide bodies 30 can be connected by, for example, a long screw (not shown in fig. 1), so that the guide bodies 30 can slide along the first slide way 71 by sliding a part of the guide body 30 in the first slide way 71. Of course, in other embodiments, the two guide bodies may be integrally formed to form a unitary structure, thereby eliminating the need for connecting mechanisms such as the first boss 32 and screws to achieve the connection therebetween.

Preferably, the guide rail 70 is provided with a first slide way 71 and a second slide way 72, the first slide way 71 is integrally disposed near the left side of the guide body 30, the length of the first slide way 71 extends along the horizontal direction, the second slide way 72 is integrally disposed near the right side of the guide body 30, and is simultaneously disposed at the right side of the first slide way 71, and the length of the second slide way 71 extends along the horizontal direction. Namely: the second slide (72) extends in the same direction as the first slide (71).

Further, the guide wheel axle 14 may be provided in the first slideway 71. The guiding bodies 30 are fixed to the guiding wheel axle 14, for example, each guiding body 30 is a T-shaped plate having a first end 301, a second end 302, and a third end 303, the first end 301 and the third end 303 are located in the horizontal direction, and the second end 302 is located in the vertical direction.

Further, a through hole 31 is provided at a first end 301 of the guide body 30, such as shown in fig. 1. The guide wheel axle 14 can be arranged in the through hole 31, so that the guide body 30 is fixed with the guide wheel axle 14.

Further, the two guide bodies 30 are butted through the first bosses 32 and assembled with the guide slide rails 70 through long screws, and when the guide wheels 10 drive the guide bodies 30 to slide, the first bosses 32 can slide along the first slide rails 71. The number of the first bosses 32 is not particularly limited, as long as the guide wheel 10 is matched to drive the guide body 30 to slide along the first slideway 71. As mentioned above, if each guide 30 is, for example, a "T" shaped flat plate having a first end 301, a second end 302, and a third end 303, the first end 301 and the third end 303 are located in the horizontal direction, and the second end 302 is located in the vertical direction, the second end 302 of the guide 30 is connected to the damper 40 to drive the damper 30 to perform the compressing or resetting action when the guide 30 slides along the first slideway 71.

Preferably, as shown in fig. 1 to 3, the guide rail 70 is in contact with a side surface of each guide body 30. In this way, the two guide bodies 30 are located at two sides of the guide wheel axle 14, so that when the fire-fighting robot is impacted during traveling, the two guide bodies 30 slide along the first slideway 71 under the driving of the guide wheel axle 14, and the guide wheel device plays a tensioning role without any blocking phenomenon. In addition, the guide rail 70 contacts with a side surface of each guide body 30, thereby functioning as a balance tension by a frictional force of the contact surface.

Preferably, in the present embodiment, the damper 40 is disposed above the guide rail 70 and physically connected to each guide body 30, and the two guide bodies 30 serve to buffer impact energy received by the fire fighting robot during traveling when sliding along the first slideway 71 and reset after completion of buffering so that the guide wheels 10 are also reset.

Preferably, the damper 40 is a hydraulic (e.g., oil pressure) damper. The left end of the damper 40 is fixed to the second end 302 of the guide body 30, and the right end thereof is fixed above the guide rail 70. For example, a bolt connecting the second ends 302 of the two guide bodies 30 passes through the left end of the damper 40 to fix the left end of the damper 40 to the two guide bodies 30. In addition, the right end of the damper 40 is fixed above the guide rail 70, for example, by the damper seat rail 50 provided on the guide rail 70. Thereby, a reliable connection relationship is formed between the damper 40 and the guide body 30, and when the guide body 30 slides along the first slide way 71 of the guide slide rail 70, the damper 40 is compressed, so that the effect of buffering impact energy is achieved; at the same time, as the damper 40 is compressed, it can provide a counter force that acts as an automatic tensioning.

Preferably, in this embodiment, the support 90 is fixed to the fire fighting robot through the screw hole 200, and at the same time, the groove 74 is provided on the right end surface of the guide rail 70. Thus, the left end of the lead screw 80 is disposed within the recess 74, as viewed in FIG. 1, while the right end of the lead screw 80 is threadably coupled to the support 90. For example, the lead screw 80 has an external thread and the support 90 is provided with a screw hole 200, and the lead screw 80 is threaded with the support 90 while passing through the screw hole 200 of the support 90. The design here can be according to the difference of application scene, for example after the track worked for a long time, the track because by frequent stretching the length grow, original tensile force diminishes. Under the condition, a wrench can be used for rotating the screw rod 80 to adjust the installation position of the guide slide rail 70, the relative position relation between the guide connecting seat 100 and the guide slide rail 70 is further adjusted, the matched hexagon socket head cap screws are used for compressing the guide slide rail 70 and the guide connecting seat 100, the pre-compression amount of the damper 40 is adjusted, and finally the readjustment of the pre-tensioning force is realized.

In addition, the left end of the lead screw 80 is disposed in the groove 74, and when the damper 40 is compressed, a rigid force opposite to the sliding direction of the guide body 30 is provided, and the rigid force can play a role in tensioning.

Preferably, in this embodiment, the guide link socket 100 can be fixed on the fire fighting robot through the screw hole 200, and the guide link socket 100 can be connected with the second slide way 72 of the guide slide rail 70, so that the guide link socket 100 and the guide slide rail 70 form another moving pair.

Preferably, a plurality of screw holes 200 are formed in the side surface of the guide connecting seat 100 facing the guide sliding rail 70, and nuts pass through the second sliding ways 72 to be matched with the screw holes 200, so that the guide connecting seat 100 and the guide sliding rail 70 are fixed together, and finally, the fixing position of the guide connecting seat 100 in the second sliding ways 72 of the guide sliding rail 70 can be flexibly adjusted according to the requirement of the tension force.

Preferably, in order to cooperate with the fixed position adjustment of the guide connecting seat 100 in the second slide way 72 of the guide slide rail 70, a sliding slot 101 is provided on the guide connecting seat 100, and correspondingly, a second boss 73 is provided on the guide slide rail 70, wherein the sliding slot 101 can be engaged with the second boss 73 in a mutually movable manner so that the sliding slot 101 can slide relative to the second boss 73 to adjust the relative position of the guide connecting seat 100 and the guide slide rail 70, so that the fixed position of the guide connecting seat 100 in the second slide way 72 of the guide slide rail 70 can be flexibly adjusted according to the requirement of the tension force.

Preferably, the sliding groove 101 may be disposed at a position where the guide connecting seat 100 faces the end surface of the guide slide rail 70 and is located downward, and correspondingly, the second boss 73 may be disposed at a position where the guide slide rail 70 faces the end surface of the guide connecting seat 100 and is located downward. When the pretensioning force needs to be adjusted, a screw (not shown in the figure) passing through the second slide way 72 is slightly loosened, the guide connecting seat 100 is moved, and the sliding groove 101 moves along the second boss 73, so that the guide connecting seat 100 and the guide sliding rail 70 are prevented from being vertically staggered, the front and back movement of the guide connecting seat 100 can be conveniently realized, the relative position relationship between the guide connecting seat 100 and the guide sliding rail 70 is effectively adjusted, and finally the pretensioning force is adjusted.

It should be noted that, in other embodiments, the positions of the sliding groove 101 and the second boss 73 may be exchanged, that is, the second boss 73 is disposed on the guide connecting seat 100, and the sliding groove is disposed on the guide sliding rail 70. In addition, the above-mentioned adjustment of the relative position of the guide link base 100 and the guide rail 70 by the cooperation of the slide groove 101 and the second boss 73 is merely an example.

The assembly process of fig. 1 described above can be briefly summarized as: the guide wheel 10, the guide wheel axle 14, the dust cover 20, the guide body 30, the damper 40, the damper seat rail 50, the bearing cover 60 and the guide slide rail 70 are sequentially assembled into a whole according to an assembling process, then the guide connecting seat 100 is fixed in the second slide way 72 of the guide slide rail 70 through screws, so that the guide wheel 10, the guide wheel axle 14, the dust cover 20, the guide body 30, the damper 40, the damper seat rail 50, the bearing cover 60, the guide slide rail 70 and the guide connecting seat 100 are combined together, the lead screw 80 and the support 90 are assembled together and fixed on the fire-fighting robot, meanwhile, the left end of the lead screw 80 is propped in the groove 74 of the guide slide rail 70, and the whole assembly of the guide wheel device can be rapidly realized.

The above-mentioned working process of fig. 1 can be briefly summarized as follows: when the fire fighting robot moves, the guide wheel 10 slides along the first slideway 71 from left to right under the impact force of the guide body 30, and causes the damper 40 to contract, thereby absorbing impact energy and providing a reaction force to urge the guide wheel 10 to return to the original position, so that the guide wheel 10 is restored. When the fire-fighting robot runs in a complex road condition, the automatic tensioning of the crawler belt is realized through the reciprocating motion between the guide body 30 and the guide slide rail 70, and the occurrence of faults such as the belt falling of the crawler belt is avoided. Meanwhile, since the left end of the lead screw 80 is disposed in the groove 74 of the guide rail 70, when the damper 40 is compressed, a rigid force opposite to the sliding direction of the guide body 30 is provided, and the rigid force can play a role of tensioning.

FIG. 4 is a perspective view schematically illustrating a guide wheel apparatus according to another embodiment of the present invention; FIG. 5 is a schematic side view schematically illustrating a guide wheel apparatus according to another embodiment of the present invention; as shown in fig. 4 and 5, in the embodiment shown in fig. 4 and 5, the lead screw 80 and the support 90 in the embodiment of fig. 1 are omitted, and the guide wheel device provided in this embodiment may be applied to a situation where the original tension of the track is almost unchanged or slightly changed after long-time operation, or a situation where the original tension of the track is reduced after long-time operation is omitted, and the detailed explosion structure thereof may be referred to fig. 1 to 3, and will not be described again.

In the description of fig. 5, directional definitions such as up, down, left, right, and the like are merely for clarity of description of the relationship between the components, and are not particularly limited. The external shapes of the structural members are merely illustrative and not particularly limited.

It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.

The above are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention. Any equivalent alterations, modifications and combinations can be made by those skilled in the art without departing from the spirit and principles of the invention.

Claims

1. Leading wheel device of fire-fighting robot, its characterized in that includes:

at least one guide wheel (10) connected with a track of the fire fighting robot;

a guide slide rail (70) on which a first slide way (71) is arranged;

at least one guide body (30) which is fixedly connected with the guide wheel (10) and can slide along the first slideway (71) by a part of the guide body sliding in the first slideway (71); and

and the damper (40) is fixedly connected with the guide body (30), and when the guide body (30) slides along the first slide way (71), the damper (40) is used for buffering impact energy received by the fire-fighting robot in the traveling process and resetting after the buffering is finished.

2. Guide wheel device according to claim 1, characterized in that the guide wheel (10) comprises a guide wheel axle (14), the guide wheel axle (14) is arranged in the first slideway (71) in a penetrating manner, and the guide wheel axle (14) is fixedly connected with the at least one guide body (30).

3. Guide wheel device according to claim 1, characterized in that the damper (40) is fixedly connected at both ends to the guide body (30) and to the guide rail (70), respectively.

4. Guide wheel device according to claim 1, characterized in that the damper (40) is a hydraulic damper.

5. The guide wheel device according to claim 1, wherein the guide rail (70) is provided with a second slide (72), the second slide (72) extends in the same direction as the first slide (71), the guide wheel device further comprises a guide coupling seat (100) capable of being fixed to the fire fighting robot, and the guide coupling seat (100) is capable of being coupled to the second slide (72).

6. The guide wheel device according to claim 5,

a sliding groove (101) is arranged on the guide connecting seat (100),

the guide slide rail (70) is provided with a second boss (73), wherein the sliding chute (101) can be engaged with the second boss (73) in a mutual movable manner, so that the sliding chute (101) can slide relative to the second boss (73) to adjust the relative position of the guide connecting seat (100) and the guide slide rail (70).

7. The guide wheel device according to claim 1,

the guide wheel device also comprises a lead screw (80),

the guide rail (70) further comprises a groove (74),

wherein one end of the screw rod (80) is arranged in the groove (74) in an ejecting way, and the other end is fixed on the fire-fighting robot.

8. A fire fighting robot, characterized in that it comprises a guide wheel arrangement according to any of claims 1-7.

9. Fire fighting robot according to claim 8, characterized in that the guide wheel (10) arrangement is arranged in horizontal direction to provide horizontal tensioning of the track.

10. A fire fighting robot as recited in claim 8, wherein the fire fighting robot further comprises a tensioning device for providing vertical tensioning force to the track.